CN208773585U - A kind of all gear constructed machine people - Google Patents
A kind of all gear constructed machine people Download PDFInfo
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- CN208773585U CN208773585U CN201820966159.2U CN201820966159U CN208773585U CN 208773585 U CN208773585 U CN 208773585U CN 201820966159 U CN201820966159 U CN 201820966159U CN 208773585 U CN208773585 U CN 208773585U
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Abstract
The utility model discloses a kind of all gear constructed machine people, it is related to robotic technology field, including having the end effector there are four freedom degree, the four axis driving portions for driving the end effector to rotate around z-axis, it includes four axle boxes, four axis input gears being successively driven, four axis ratio wheel groups and four axis output gears are disposed in four axle box, the four axis output gear and the end effector direct or indirect connection, the four axis ratio wheel group realize the stroke with radiai adjustment by adjusting component；Drive the end effector in the Three-axis drive portion of yz planar movement；Drive the end effector in two axis driving portions of yz planar movement；And the axis driving portion that the driving end effector is mobile in x/y plane.The precision of end effector movement can be improved in the utility model.
Description
Technical field
The utility model relates to robotic technology field, in particular to a kind of all gear constructed machine people.
Background technique
Currently, the link mechanism of traditional robot palletizer is more, load is larger, and common transmission mechanism is difficult to ensure it
Smooth running all realized using harmonic gear drive mechanism mostly at present, but harmonic gear transmission is there is also some disadvantages,
It is big etc. to be easy to fatigue damage, manufacture difficulty big, maintenance difficult, starting torque, it is therefore desirable to by each tooth of robot palletizer
Roller box optimizes, and guarantees that the final running of end effector is steady, accurate positioning.
Summary of the invention
The purpose of this utility model is to provide a kind of robot, all gear mechanism, can guarantee and transport between each link mechanism
Turn steady, guarantees that wrist is stablized in moving process.
Used technical solution to solve above-mentioned technical problem:
A kind of all gear constructed machine people, including
The end effector for freedom degree that there are four tools,
The four axis driving portions for driving the end effector to rotate around z-axis comprising four axle boxes, cloth in four axle box
Be equipped with four axis input gears being successively driven, four axis ratio wheel groups and four axis output gears, the four axis output gear with it is described
End effector direct or indirect connection, the four axis ratio wheel group realize the stroke with radiai adjustment by adjusting component；
Drive the end effector in the Three-axis drive portion of yz planar movement；
Drive the end effector in two axis driving portions of yz planar movement；And
Drive the axis driving portion that the end effector is mobile in x/y plane.
As a further improvement of the above technical scheme, the four axis ratio wheel group includes engaging with four axis input gears
Four axis gear wheels and the four axis pinion gears engaged with four axis output gears, the four axis gear wheel and four axis pinion gears pass through tune
Nodal axisn realizes coaxial synchronized rotation, and the component that adjusts includes the bearing block for adjustment axis described in support, which passes through
Pin and at least one bolt are fixed in four axle box, the bearing block be equipped with the pin hole that passes through for the pin with
And for the bolt hole that the corresponding bolt passes through, the activity space that there is each bolt hole respective bolt to adjust.
As a further improvement of the above technical scheme, the two axis driving portion passes through armed lever component and four axle box
Connection, the armed lever component include principal arm, auxiliary, master connecting-rod mechanism and slave connecting rod mechanism, and four axle box has auxiliary
Connecting pin and connecting rod connecting pin, the auxiliary connecting pin and auxiliary front end are hinged, the principal arm lower end and two axis driving portion output ends
Connection, the principal arm upper end and rear end in auxiliary are hinged, and the principal arm upper end is connected with Triangular Arm, which has first to connect
End, second connection end and the third connecting pin hinged with principal arm are connect, the master connecting-rod mechanism includes that can rotate around a fixing end
Master connecting-rod, the other end of the master connecting-rod and the first connecting pin are hinged, and the slave connecting rod mechanism includes slave connecting rod, the slave connecting rod one
End is hinged with second connection end, and the other end of the slave connecting rod and the connecting rod connecting pin are hinged.
As a further improvement of the above technical scheme, the Three-axis drive portion passes through rocker-arm link mechanism and the auxiliary
Rear end connection, the rocker-arm link mechanism include the rocker arm connecting with Three-axis drive portion output end and cut with scissors with the rocker arm other end
The three axis connecting rods connect, the other end of the three axis connecting rod and the auxiliary rear end are hinged.
As a further improvement of the above technical scheme, the two axis driving portion and Three-axis drive portion are arranged in axis drive
In dynamic portion and the two sides of an axis driving portion are distributed in, the output end of the axis driving portion is connected on a pedestal.
As a further improvement of the above technical scheme, the axis driving portion, two axis driving portions and Three-axis drive portion
Include main box, is disposed with the wheel for inputting being successively driven, transition wheel group and output wheel, the transition in each main box
Wheel group includes the transition gear wheel engaged with the wheel for inputting and the transition pinion gear engaged with the output wheel, the transition
Gear wheel realizes coaxial synchronized rotation by wheel shaft with transition pinion gear, and the transition pinion gear is taper gear, the wheel shaft
The stroke with axial movement is realized by control assembly.
As a further improvement of the above technical scheme, each control assembly include be fixed on the adjusting rod of main box with
And it is pressed on the pressure spring of the adjusting rod, the other end of the pressure spring is pressed on the axle ends.
As a further improvement of the above technical scheme, the minimum negative common difference of each bolt hole is not less than 0.1mm.
As a further improvement of the above technical scheme, each bolt hole is arcuate socket, the arc core of each bolt hole
On the pin axis.
As a further improvement of the above technical scheme, each axis wheel is fluted towards one end of control assembly arrangement,
The groove arrangement has ball, and the pressure spring is pressed on the ball.
The beneficial effects of the utility model are: the utility model drives four axis for driving end effector to circle
Portion optimizes, and designs four axis ratio wheel groups of radially adjustable, eliminates between four axis ratio wheel groups and four axis input gears
The gap between four axis ratio wheel groups and four axis output gears is eliminated in gap, improves the precision of end effector movement；In addition also
Transmission accuracy can be improved by the gear structure inside optimization Three-axis drive portion, two axis driving portions and an axis driving portion.
Detailed description of the invention
It, below will be to required in embodiment description in order to illustrate more clearly of the technical scheme in the embodiment of the utility model
Attached drawing to be used is briefly described.Obviously, described attached drawing is a part of the embodiment of the utility model, rather than complete
Portion's embodiment, those skilled in the art without creative efforts, can also be obtained according to these attached drawings it
His design scheme and attached drawing.
Fig. 1 is the perspective view at the first visual angle of the utility model；
Fig. 2 is the perspective view at second of visual angle of the utility model；
Fig. 3 is the front view that the utility model is located at yz plane；
Fig. 4 is the rearview that the utility model is located at yz plane；
Fig. 5 is the perspective view at four the first visual angle of axis driving portion in the utility model；
Fig. 6 is the perspective view at four second of visual angle of axis driving portion in the utility model, wherein not showing lower cover；
Fig. 7 is the perspective view at four the third visual angle of axis driving portion in the utility model, wherein not showing upper cover；
Fig. 8 is the cross-sectional view of four axis driving portions in the utility model；
Fig. 9 is the assembling schematic diagram of gear wheel in the utility model, pinion gear, adjustment axis and bearing block；
Figure 10 is the perspective view of the utility model bottom bracket；
Figure 11 is the structural schematic diagram of an axis driving portion in the utility model；
Figure 12 is the assembling schematic diagram of wheel for inputting in the utility model, transition wheel group and output wheel；
Figure 13 is the assembling schematic diagram of control piece and wheel shaft in the utility model.
Specific embodiment
It is carried out below with reference to technical effect of the embodiment and attached drawing to the design of the utility model, specific structure and generation
It clearly and completely describes, to be completely understood by the purpose of this utility model, feature and effect.Obviously, described embodiment
It is a part of the embodiment of the utility model, rather than whole embodiments, it is based on the embodiments of the present invention, the skill of this field
Art personnel other embodiments obtained without creative efforts belong to the model of the utility model protection
It encloses.In addition, all connection/connection relationships being previously mentioned in text, not singly refer to that component directly connects, and referring to can be according to specific reality
Situation is applied, by adding or reducing couple auxiliary, Lai Zucheng more preferably coupling structure.
Referring to figs. 1 to Figure 13, a kind of all gear constructed machine people, including have there are four freedom degree end effector 440,
Driving end effector 440 rotate around z-axis four axis driving portions 400, drive end effector 440 the three of yz planar movement
Axis driving portion 300 drives end effector 440 in two axis driving portions 200 of yz planar movement and driving end effector 440
In the mobile axis driving portion 100 of x/y plane, four axis driving portions 400 include four axle boxes 410.Fig. 1 to Fig. 4 indicates in figure
The system of axis refers to driving end effector rotation around z-axis rotation, along z while yz planar movement, which refers to, to be moved along y-axis
Axis is mobile, and yz plane is as shown in Figure 3 and Figure 4, refers in x/y plane movement and moves while can moving along the x-axis along y axis, xy is flat
Face is as depicted in figs. 1 and 2.
Specifically, as shown in Figures 1 to 4, two axis driving portions 200 are connected by armed lever component 500 and four axle boxes 410
It connects, armed lever component 500 includes principal arm 501, auxiliary 502, master connecting-rod mechanism and slave connecting rod mechanism, and four axle boxes 410 have pair
Arm connecting pin 411 and connecting rod connecting pin 412, the auxiliary connecting pin 411 and 502 front end of auxiliary are hinged, 501 lower end of principal arm and two
The connection of 200 output end of axis driving portion, 501 upper end of principal arm and rear end in auxiliary 502 are hinged, and 501 upper end of principal arm is connected with triangle
Arm, which has the first connecting pin 511, second connection end 512 and the third connecting pin 513 hinged with principal arm 501, main
Link mechanism includes the master connecting-rod 522 that can be rotated around a fixing end 521, and the other end of master connecting-rod 522 and the first connecting pin 511 are cut with scissors
Connect, slave connecting rod mechanism includes slave connecting rod 523, and 523 one end of slave connecting rod and second connection end 512 are hinged, slave connecting rod 523 it is another
End is hinged with connecting rod connecting pin 412.Wherein, fixing end 521 is mounted in Three-axis drive portion 300, as shown in Figure 2.When two axis
In use, principal arm 501 is driven to rotate, principal arm 501, fixing end 521, master connecting-rod 522 and Triangular Arm back side edge form driving portion
First parallelogram sturcutre, auxiliary 502, auxiliary connecting pin 411, connecting rod connecting pin 412 and Triangular Arm front side edge composition the
Two parallelogram sturcutres, principal arm 501 are driven by the first parallelogram sturcutre and the second parallelogram sturcutre, four axis of driving
Dynamic portion 400 is mobile and keeps four axis driving portions, 400 horizontal attitude.
And Three-axis drive portion 300 is connect by rocker-arm link mechanism with 502 rear end of auxiliary, rocker-arm link mechanism includes and three
The Rocker arm 5 31 and the three axis connecting rods 532 hinged with 31 other end of Rocker arm 5 of 300 output end of axis driving portion connection, three axis connect
The other end of bar 532 and 502 rear end of auxiliary are hinged.When Three-axis drive portion in use, Rocker arm 5 31 is driven to rotate, Rocker arm 5 31, three
Axis connecting rod 532,502 posterior segment of auxiliary and principal arm 501 form third parallelogram, and Rocker arm 5 31 passes through parallel four side of third
Shape drives auxiliary 502 to rotate, and then drives four axis driving portions 400 mobile, and four axis driving portions 400 pass through the first parallelogram
Structure and the second parallelogram sturcutre remain horizontal attitude.
Specifically, four axis driving portions 400 include four axle boxes 410, and four axle boxes include upper as shown in Fig. 5 to Figure 10
Lid and lower cover, wherein auxiliary connecting pin 411 and connecting rod connecting pin 412 are arranged at upper cover, are disposed with successively in four axle boxes 410
Four axis input gears, four axis ratio wheel groups and the four axis output gears 424 of transmission, four axis input gears are driven by four spindle motors
Dynamic, four axis ratio wheel groups realize the stroke with radiai adjustment by adjusting component.Four axis ratio wheel groups specifically include and four axis
Four axis gear wheels 421 of input gear engagement and the four axis pinion gears 422 engaged with four axis output gears 424, four axis canine tooths
Wheel 421 and four axis pinion gears 422 are realized by adjustment axis 423 coaxially to be rotated at the same speed, and adjusting component includes for support adjustment axis
423 bearing block 430, bearing block 430 are fixed in four axle boxes 410 by pin 431 and two bolts 432, the axis
Seat 430 is held equipped with the pin hole passed through for pin 431 and the bolt hole passed through for respective bolt 432, each bolt hole has phase
The activity space for answering bolt 432 to adjust.In transmission process, pin 431 is main stressed member, in assembling process, each spiral shell
Bolt 432 does not lock, operator can slight amplitude rotating shaft holder 430, and then make four axis pinion gears 422 and four axis output gears
Backlash between the two is eliminated in 424 engagements, and the general 0.05mm of mismachining tolerance of usually gear is hereinafter, therefore by each bolt hole
Processing dimension design is 0.1mm bigger than with the fit dimension of respective bolt 432, can be defined as the minimum negative common difference of each bolt hole
0.1mm.After regulating bearing block 430, locked by each bolt 432.In addition, also each bolt hole can be designed as arc
The arc core in hole, each bolt hole is located on 431 axis of pin, and the distance radially movable in respective bolt holes of bolt 432 is also big
It causes to be 0.1mm.In the design, the processing dimension of specific bolt hole can be selected according to Errors in Gear Processing.In addition, bearing block
The side wall of 430 four axis output gears 424 of direction is disposed with recess 433, and four axis output gears 424 are partially embedded into recess 33.
In the present embodiment, four axis output gears 424 are connected with end output shaft 425, and end output shaft 425 and end effector 440 connect
It connects, four axle boxes 410 are disposed with first bearing 426 corresponding with end output shaft 425, and bearing block 430 is disposed at least one
A second bearing corresponding with adjustment axis 423.Preferably, four axis input gears, four axis gear wheels 421, four axis pinion gears 422 with
And four axis output gear 424 be cylindric spiral gear.
Two axis driving portions 200 and Three-axis drive portion 300 are arranged on an axis driving portion 100 and are distributed in an axis driving portion
100 two sides, the output end of an axis driving portion 100 are connected on a pedestal 600.
In the present embodiment, an axis driving portion 100, two axis driving portions 200 and Three-axis drive portion 300 are all made of identical structure
Gear-box, specifically include main box 110, be disposed in each main box 110 wheel for inputting 121 being successively driven, transition wheel group with
And output wheel 125, transition wheel group include the transition gear wheel 122 engaged with wheel for inputting and the transition engaged with output wheel 125
Pinion gear 124, transition gear wheel 122 realize coaxial synchronized rotation, transition pinion gear by wheel shaft 123 with transition pinion gear 124
124 be taper gear, and wheel shaft 123 realizes the stroke with axial movement by control assembly.Each control assembly includes being fixed on
The adjusting rod 131 of main box 110 and the pressure spring 132 for being pressed on the adjusting rod 131, the other end of the pressure spring 132 are pressed on wheel
123 end of axis.Each wheel shaft 123 is fluted towards one end of control assembly arrangement, which has ball 133, and pressure spring 132 supports
It is pressed on the ball 133.Output wheel 125 is fixed on power output shaft 126, and main box 110 is disposed with and power output shaft
126 corresponding third base bearings, institute's main box 110 are disposed with fourth bearing corresponding with wheel shaft 123.In the present embodiment, one
Axis driving portion 100 is arranged horizontally, i.e. the power output shaft 126 of an axis driving portion 100 is arranged along the z-axis direction, can drive end
Actuator 440 rotates about movement.And two axis driving portions 200 and Three-axis drive portion 300 are arranged in the master of an axis driving portion 100
On cabinet 110, i.e. the power output shaft 126 of the two is arranged along the y-axis direction, and end effector 440 can be driven to move in yz plane
It is dynamic, and four axis driving portions 440 is made to keep horizontal attitude, it can realize that two axis driving portions 200 and three axis drive by design control procedure
Dynamic portion 300 links, and realizes that four axis driving portions 440 of control in the motion track of yz plane, can be moved individually along y-axis, also can be independent
It is moved along the z-axis, can also be moved simultaneously along y-axis and z-axis, the utility model can be used for stacking or loading and unloading.
The driving structure of each freedom degree of the utility model, i.e. an axis driving portion 100, two axis driving portions 200, Three-axis drive portion
300 and four axis driving portion 400 be all made of gear reduction box, and optimize each gear reduction box, realize all gear structure, on the one hand
By eliminating the fit-up gap between each intermeshing gear, transmission accuracy is improved, on the other hand without harmonic gear transmission
Mechanism reduces cost of manufacture in the case where meeting transmission accuracy requirement condition.
The embodiments of the present invention is explained in detail above in conjunction with attached drawing, but the utility model is not limited to
State embodiment, within the scope of knowledge possessed by those of ordinary skill in the art, can also do not depart from it is practical
Various changes can be made under the premise of novel objective.
Claims (10)
1. a kind of all gear constructed machine people, it is characterised in that: including
The end effector (440) for freedom degree that there are four tools,
The four axis driving portions (400) for driving the end effector (440) to rotate around z-axis comprising four axle boxes (410), it should
Four axis input gears being successively driven, four axis ratio wheel groups and four axis output gears are disposed in four axle boxes (410)
(424), the four axis output gear (424) and the end effector (440) direct or indirect connection, the four axis ratio wheel group
The stroke with radiai adjustment is realized by adjusting component；
Drive the end effector (440) in the Three-axis drive portion (300) of yz planar movement；
Drive the end effector (440) in two axis driving portions (200) of yz planar movement；And
Drive the axis driving portion (100) that the end effector (440) is mobile in x/y plane.
2. all gear constructed machine people according to claim 1, it is characterised in that: the four axis ratio wheel group includes and four
Four axis gear wheels (421) of axis input gear engagement and the four axis pinion gears (422) engaged with four axis output gears (424),
The four axis gear wheel (421) and four axis pinion gears (422) are realized by adjustment axis (423) coaxially to be rotated at the same speed, the adjusting
Component includes the bearing block (430) for adjustment axis (423) described in support, and the bearing block (430) is by pin (431) and extremely
A few bolt (432) is fixed in four axle box (410), which is equipped with passes through for the pin (431)
Pin hole and the bolt hole that is passed through for the corresponding bolt (432), each bolt hole there is respective bolt (432) adjusting
Activity space.
3. all gear constructed machine people according to claim 1 or 2, it is characterised in that: the two axis driving portion (200) is logical
It crosses armed lever component (500) to connect with four axle box (410), the armed lever component (500) includes principal arm (501), auxiliary
(502), there are auxiliary connecting pin (411) to connect with connecting rod for master connecting-rod mechanism and slave connecting rod mechanism, four axle box (410)
It holds (412), the auxiliary connecting pin (411) and auxiliary (502) front end are hinged, principal arm (501) lower end and two axis driving portions
(200) output end connects, and principal arm (501) upper end and rear end in auxiliary (502) are hinged, principal arm (501) the upper end connection
There is Triangular Arm, which has the first connecting pin (511), second connection end (512) and the third hinged with principal arm (501)
Connecting pin (513), the master connecting-rod mechanism include the master connecting-rod (522) that can be rotated around a fixing end (521), the master connecting-rod
(522) hingedly, the slave connecting rod mechanism includes slave connecting rod (523), the slave connecting rod for the other end and the first connecting pin (511)
(523) hingedly, the other end of the slave connecting rod (523) and the connecting rod connecting pin (412) are cut with scissors for one end and second connection end (512)
It connects.
4. all gear constructed machine people according to claim 3, it is characterised in that: the Three-axis drive portion (300) passes through
Rocker-arm link mechanism is connect with the auxiliary (502) rear end, and the rocker-arm link mechanism includes exporting with Three-axis drive portion (300)
The rocker arm (531) and the three axis connecting rods (532) hinged with rocker arm (531) other end of connection are held, the three axis connecting rod (532)
The other end and the auxiliary (502) rear end are hinged.
5. all gear constructed machine people according to claim 4, it is characterised in that: the two axis driving portion (200) and three
Axis driving portion (300) is arranged on an axis driving portion (100) and is distributed in the two sides of an axis driving portion (100), an axis
The output end of driving portion (100) is connected on a pedestal (600).
6. all gear constructed machine people according to claim 5, it is characterised in that: the axis driving portion (100), two axis
Driving portion (200) and Three-axis drive portion (300) include main box (110), are disposed with successively in each main box (110)
Wheel for inputting (121), transition wheel group and the output wheel (125) of transmission, the transition wheel group includes engaging with the wheel for inputting
Transition gear wheel (122) and the transition pinion gear (124) engaged with the output wheel (125), the transition gear wheel (122)
Coaxial synchronized rotation is realized by wheel shaft (123) with transition pinion gear (124), the transition pinion gear (124) is taper gear,
The wheel shaft (123) realizes the stroke with axial movement by control assembly.
7. all gear constructed machine people according to claim 6, it is characterised in that: each control assembly includes being fixed on
The adjusting rod (131) of main box (110) and the pressure spring (132) for being pressed on the adjusting rod (131), the pressure spring (132)
The other end is pressed on the wheel shaft (123) end.
8. all gear constructed machine people according to claim 2, it is characterised in that: the minimum negative common difference of each bolt hole
Not less than 0.1mm.
9. all gear constructed machine people according to claim 2, it is characterised in that: each bolt hole is arcuate socket, respectively
The arc core of the bolt hole is located on the pin (431) axis.
10. all gear constructed machine people according to claim 7, it is characterised in that: each wheel shaft (123) direction control
One end arrangement of component is fluted, which has ball (133), and the pressure spring (132) is pressed on the ball (133).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820966159.2U CN208773585U (en) | 2018-06-21 | 2018-06-21 | A kind of all gear constructed machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820966159.2U CN208773585U (en) | 2018-06-21 | 2018-06-21 | A kind of all gear constructed machine people |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208773585U true CN208773585U (en) | 2019-04-23 |
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ID=66152730
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820966159.2U Active CN208773585U (en) | 2018-06-21 | 2018-06-21 | A kind of all gear constructed machine people |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208773585U (en) |
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2018
- 2018-06-21 CN CN201820966159.2U patent/CN208773585U/en active Active
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| TR01 | Transfer of patent right |
Effective date of registration: 20220531 Address after: 510230 room J, 16 / F, No. 308, Binjiang Middle Road, Haizhu District, Guangzhou, Guangdong Patentee after: Zhongzheng Data Technology Co.,Ltd. Address before: 510700 2 Luogang District Xin Rui Road, Guangzhou, Guangdong Patentee before: GUANGZHOU START TO SAIL INDUSTRIAL ROBOT Co. |
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| TR01 | Transfer of patent right |